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Livox-SDK / livox_ros_driver

Livox device driver under ros, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
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How to differentiate /livox/imu messages in case of hub configuration #62

Closed radeonwu closed 3 years ago

radeonwu commented 3 years ago

Would like to check with Livox folks, that in case multi horizon lidars are installed with a hub unit, since every lidar unit publish the same /livox/imu message, which is of type sensor_msgs/Imu, how to seperate these imu messages so that we know which lidar unit there are attached to? Thanks

Livox-SDK commented 3 years ago

Hi,radeonwu, You can set the parameters "multi_topic" to "1", Each LiDAR imu data will be published using its own independent publisher.

radeonwu commented 3 years ago

Hi,radeonwu, You can set the parameters "multi_topic" to "1", Each LiDAR imu data will be published using its own independent publisher.

Thanks for the reply. I am aware about the ros param setting of "multi_topic". How about existing dataset that was recorded with multi horizon lidars and a single /livox/imu message inside, any possibility to seperate the imu message?

Livox-SDK commented 3 years ago

Hi,radeonwu, Is the format of the “existing dataset” file .lvx or .bag? If .lvx file, you can convert it to rosbag using multi_topic; But if your dataset file is already a rosbag, it‘s impossible to seperate the message.

radeonwu commented 3 years ago

thanks for your reply. unfortunately the data was recorded in .bag format.